Creator:

Żur, Krzysztof Kamil

Contributor:

Jurczak, Paweł - red.

Title:

The maximum principle of pontryagin in control of two-legged robot based on human walking system

Group publication title:

IJAME, volume 19 (2014)

Subject and Keywords:

state equations ; maximum principle ; optimal conditions ; discrete Hamilton function

Abstract:

In the paper a hypothesis about state equations of human gait is presented. Instantaneous normalized power developed by human muscles at particular joints of a leg is a control vector in state equations of the human walking system. The maximum principle of Pontryagin in analysis of dynamic human knee joint was presented. The discrete Hamilton function of a knee joint is similar to a discrete square function of normalized power developed by muscles at the knee joint. The results satisfy optimal conditions and could be applied in control of exoskeleton and DAR type robot.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2014

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2014-0027

Pages:

407-417

Source:

IJAME, volume 19, number 2 (2014)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego